OpenRaiser/Intern-Atlas huggingface dataset:
Ground Plane based Absolute Scale Estimation for Monocular Visual Odometry
Venue: arXiv cs.CV 2019
Year: 2019

Recovering the absolute metric scale from a monocular camera is a challenging but highly desirable problem for monocular camera-based systems. By using different kinds of cues, various approaches have been proposed for scale estimation, such as camera height, object size etc. In this paper, firstly, we summarize different kinds of scale estimation approaches. Then, we propose a robust divide and conquer the absolute scale estimation method based on the ground plane and camera height by analyzing the advantages and disadvantages of different approaches. By using the estimated scale, an effective scale correction strategy has been proposed to reduce the scale drift during the Monocular Visual Odometry (VO) estimation process. Finally, the effectiveness and robustness of the proposed method have been verified on both public and self-collected image sequences.
3D Graph Convolutional Networks with Temporal Graphs: A Spatial Information Free Framework For Traffic Forecasting
Venue: arXiv cs.LG 2019
Year: 2019

Spatio-temporal prediction plays an important role in many application areas especially in traffic domain. However, due to complicated spatio-temporal dependency and high non-linear dynamics in road networks, traffic prediction task is still challenging. Existing works either exhibit heavy training cost or fail to accurately capture the spatio-temporal patterns, also ignore the correlation between distant roads that share the similar patterns. In this paper, we propose a novel deep learning framework to overcome these issues: 3D Temporal Graph Convolutional Networks (3D-TGCN). Two novel components of our model are introduced. (1) Instead of constructing the road graph based on spatial information, we learn it by comparing the similarity between time series for each road, thus providing a spatial information free framework. (2) We propose an original 3D graph convolution model to model the spatio-temporal data more accurately. Empirical results show that 3D-TGCN could outperform state-of-the-art baselines.
dRRT*: Scalable and Informed Asymptotically-Optimal Multi-Robot Motion Planning
Venue: arXiv cs.RO 2019
Year: 2019

Many exciting robotic applications require multiple robots with many degrees of freedom, such as manipulators, to coordinate their motion in a shared workspace. Discovering high-quality paths in such scenarios can be achieved, in principle, by exploring the composite space of all robots. Sampling-based planners do so by building a roadmap or a tree data structure in the corresponding configuration space and can achieve asymptotic optimality. The hardness of motion planning, however, renders the explicit construction of such structures in the composite space of multiple robots impractical. This work proposes a scalable solution for such coupled multi-robot problems, which provides desirable path-quality guarantees and is also computationally efficient. In particular, the proposed \drrtstar\ is an informed, asymptotically-optimal extension of a prior sampling-based multi-robot motion planner, \drrt. The prior approach introduced the idea of building roadmaps for each robot and implicitly searching the tensor product of these structures in the composite space. This work identifies the conditions for convergence to optimal paths in multi-robot problems, which the prior method was not achieving. Building on this analysis, \drrt\ is first properly adapted so as to achieve the theoretical guarantees and then further extended so as to make use of effective heuristics when searching the composite space of all robots. The case where the various robots share some degrees of freedom is also studied. Evaluation in simulation indicates that the new algorithm, \drrtstar\, converges to high-quality paths quickly and scales to a higher number of robots where various alternatives fail. This work also demonstrates the planner's capability to solve problems involving multiple real-world robotic arms.
Improving Computational Efficiency of Communication for Omniscience and Successive Omniscience
Venue: arXiv cs.IT 2019
Year: 2019

For a group of users in $V$ where everyone observes a component of a discrete multiple random source, the process that users exchange data so as to reach omniscience, the state where everyone recovers the entire source, is called communication for omniscience (CO). We first consider how to improve the existing complexity $O(|V|^2 \cdot \text{SFM}(|V|)$ of minimizing the sum of communication rates in CO, where $\text{SFM}(|V|)$ denotes the complexity of minimizing a submodular function. We reveal some structured property in an existing coordinate saturation algorithm: the resulting rate vector and the corresponding partition of $V$ are segmented in $α$, the estimation of the minimum sum-rate. A parametric (PAR) algorithm is then proposed where, instead of a particular $α$, we search the critical points that fully determine the segmented variables for all $α$ so that they converge to the solution to the minimum sum-rate problem and the overall complexity reduces to $O(|V| \cdot \text{SFM}(|V|))$. For the successive omniscience (SO), we consider how to attain local omniscience in some complimentary user subset so that the overall sum-rate for the global omniscience still remains minimum. While the existing algorithm only determines a complimentary user subset in $O(|V| \cdot \text{SFM}(|V|))$ time, we show that, if a lower bound on the minimum sum-rate is applied to the segmented variables in the PAR algorithm, not only a complimentary subset, but also an optimal rate vector for attaining the local omniscience in it are returned in $O(|V| \cdot \text{SFM}(|V|))$ time.
Hacking Google reCAPTCHA v3 using Reinforcement Learning
Venue: arXiv cs.LG 2019
Year: 2019

We present a Reinforcement Learning (RL) methodology to bypass Google reCAPTCHA v3. We formulate the problem as a grid world where the agent learns how to move the mouse and click on the reCAPTCHA button to receive a high score. We study the performance of the agent when we vary the cell size of the grid world and show that the performance drops when the agent takes big steps toward the goal. Finally, we used a divide and conquer strategy to defeat the reCAPTCHA system for any grid resolution. Our proposed method achieves a success rate of 97.4% on a 100x100 grid and 96.7% on a 1000x1000 screen resolution.
Robust commuter movement inference from connected mobile devices
Venue: arXiv cs.LG 2019
Year: 2019

The preponderance of connected devices provides unprecedented opportunities for fine-grained monitoring of the public infrastructure. However while classical models expect high quality application-specific data streams, the promise of the Internet of Things (IoT) is that of an abundance of disparate and noisy datasets from connected devices. In this context, we consider the problem of estimation of the level of service of a city-wide public transport network. We first propose a robust unsupervised model for train movement inference from wifi traces, via the application of robust clustering methods to a one dimensional spatio-temporal setting. We then explore the extent to which the demand-supply gap can be estimated from connected devices. We propose a classification model of real-time commuter patterns, including both a batch training phase and an online learning component. We describe our deployment architecture and assess our system accuracy on a large-scale anonymized dataset comprising more than 10 billion records.
Asymmetric Single Magnitude Four Error Correcting Codes
Venue: arXiv cs.IT 2019
Year: 2019

Limited magnitude asymmetric error model is well suited for flash memory. In this paper, we consider the construction of asymmetric codes correcting single error over $\mathbb{Z}_{2^{k}r}$ and which are based on so called $B_{1}[4](2^{k}r)$ set. In fact, we reduce the construction of a maximal size $B_{1}[4](2^{k}r)$ set for $k\geq3$ to the construction of a maximal size $B_{1}[4](2^{k-3}r)$ set. Finally, we give a explicit formula of a maximal size $B_{1}[4](4r)$ set and some lower bounds of a maximal size $B_{1}[4](2r)$ set. By computer searching up to $q\leq106$, we conjecture that those lower bounds are tight.
Attacking Power Indices by Manipulating Player Reliability
Venue: arXiv cs.GT 2019
Year: 2019

We investigate the manipulation of power indices in TU-cooperative games by stimulating (subject to a budget constraint) changes in the propensity of other players to participate to the game. We display several algorithms that show that the problem is often tractable for so-called network centrality games and influence attribution games, as well as an example when optimal manipulation is intractable, even though computing power indices is feasible.
Collaborative Spatio-temporal Feature Learning for Video Action Recognition
Venue: arXiv cs.CV 2019
Year: 2019

Spatio-temporal feature learning is of central importance for action recognition in videos. Existing deep neural network models either learn spatial and temporal features independently (C2D) or jointly with unconstrained parameters (C3D). In this paper, we propose a novel neural operation which encodes spatio-temporal features collaboratively by imposing a weight-sharing constraint on the learnable parameters. In particular, we perform 2D convolution along three orthogonal views of volumetric video data,which learns spatial appearance and temporal motion cues respectively. By sharing the convolution kernels of different views, spatial and temporal features are collaboratively learned and thus benefit from each other. The complementary features are subsequently fused by a weighted summation whose coefficients are learned end-to-end. Our approach achieves state-of-the-art performance on large-scale benchmarks and won the 1st place in the Moments in Time Challenge 2018. Moreover, based on the learned coefficients of different views, we are able to quantify the contributions of spatial and temporal features. This analysis sheds light on interpretability of the model and may also guide the future design of algorithm for video recognition.
Immersive VR as a Tool to Enhance Relaxation for Undergraduate Students with the Aim of Reducing Anxiety - A Pilot Study
Venue: arXiv cs.HC 2019
Year: 2019

Despite extensive use in related domains, Virtual Reality (VR) for generalised anxiety disorder (GAD) has received little previous attention. We report upon a VR environment created for the Oculus Rift and Unreal Engine 4 (UE4) to investigate the potential of a VR simulation to be used as an anxiety management tool. We introduce the broad topic of GAD and related publications on the application of VR to this, and similar, mental health conditions. We then describe the development of a real time simulation tool, based upon the passive VR experience of a tranquil, rural alpine scene experienced from a seated position with head tracking. Evaluation focused upon qualitative feedback on the application. Testing was carried out over the period of two weeks on a sample group of eleven students studying at Nottingham Trent University. All participants were asked to complete the Depression, Anxiety and Stress Scale - 21 Items (DASS21) at the beginning and at the end of the study order to assess their profile, and hence suitability to comment upon the software. Qualitative feedback was very encouraging, with all participants reporting that they believed the experience helped and that they would consider utilising it if it was available. Additionally, a psychologist was asked to test the application to provide a specialist opinion on whether it would be appropriate for use as an anxiety management tool. The results highlight several areas for improvement but are positive overall in terms of its potential as a therapeutic tool.
An Assurance Framework for Independent Co-assurance of Safety and Security
Venue: arXiv cs.SE 2019
Year: 2019

Integrated safety and security assurance for complex systems is difficult for many technical and socio-technical reasons such as mismatched processes, inadequate information, differing use of language and philosophies, etc.. Many co-assurance techniques rely on disregarding some of these challenges in order to present a unified methodology. Even with this simplification, no methodology has been widely adopted primarily because this approach is unrealistic when met with the complexity of real-world system development. This paper presents an alternate approach by providing a Safety-Security Assurance Framework (SSAF) based on a core set of assurance principles. This is done so that safety and security can be co-assured independently, as opposed to unified co-assurance which has been shown to have significant drawbacks. This also allows for separate processes and expertise from practitioners in each domain. With this structure, the focus is shifted from simplified unification to integration through exchanging the correct information at the right time using synchronisation activities.
Dijkstra Monads for All
Venue: arXiv cs.PL 2019
Year: 2019

This paper proposes a general semantic framework for verifying programs with arbitrary monadic side-effects using Dijkstra monads, which we define as monad-like structures indexed by a specification monad. We prove that any monad morphism between a computational monad and a specification monad gives rise to a Dijkstra monad, which provides great flexibility for obtaining Dijkstra monads tailored to the verification task at hand. We moreover show that a large variety of specification monads can be obtained by applying monad transformers to various base specification monads, including predicate transformers and Hoare-style pre- and postconditions. For defining correct monad transformers, we propose a language inspired by Moggi's monadic metalanguage that is parameterized by a dependent type theory. We also develop a notion of algebraic operations for Dijkstra monads, and start to investigate two ways of also accommodating effect handlers. We implement our framework in both Coq and F*, and illustrate that it supports a wide variety of verification styles for effects such as exceptions, nondeterminism, state, input-output, and general recursion.
Traditional Machine Learning for Pitch Detection
Venue: arXiv cs.SD 2019
Year: 2019

Pitch detection is a fundamental problem in speech processing as F0 is used in a large number of applications. Recent articles have proposed deep learning for robust pitch tracking. In this paper, we consider voicing detection as a classification problem and F0 contour estimation as a regression problem. For both tasks, acoustic features from multiple domains and traditional machine learning methods are used. The discrimination power of existing and proposed features is assessed through mutual information. Multiple supervised and unsupervised approaches are compared. A significant relative reduction of voicing errors over the best baseline is obtained: 20% with the best clustering method (K-means) and 45% with a Multi-Layer Perceptron. For F0 contour estimation, the benefits of regression techniques are limited though. We investigate whether those objective gains translate in a parametric synthesis task. Clear perceptual preferences are observed for the proposed approach over two widely-used baselines (RAPT and DIO).
Decomposition of Map Graphs with Applications
Venue: arXiv cs.DS 2019
Year: 2019

Bidimensionality is the most common technique to design subexponential-time parameterized algorithms on special classes of graphs, particularly planar graphs. The core engine behind it is a combinatorial lemma of Robertson, Seymour and Thomas that states that every planar graph either has a $\sqrt{k}\times \sqrt{k}$-grid as a minor, or its treewidth is $O(\sqrt{k})$. However, bidimensionality theory cannot be extended directly to several well-known classes of geometric graphs. Nevertheless, a relaxation of this lemma has been proven useful for unit disk graphs. Inspired by this, we prove a new decomposition lemma for map graphs. Informally, our lemma states the following. For any map graph $G$, there exists a collection $(U_1,\ldots,U_t)$ of cliques of $G$ with the following property: $G$ either contains a $\sqrt{k}\times \sqrt{k}$-grid as a minor, or it admits a tree decomposition where every bag is the union of $O(\sqrt{k})$ of the cliques in the above collection. The new lemma appears to be a handy tool in the design of subexponential parameterized algorithms on map graphs. We demonstrate its usability by designing algorithms on map graphs with running time $2^{O({\sqrt{k}\log{k}})} \cdot n^{O(1)}$ for the Connected Planar $\cal F$-Deletion problem (that encompasses problems such as Feedback Vertex Set and Vertex Cover). Obtaining subexponential algorithms for Longest Cycle/Path and Cycle Packing is more challenging. We have to construct tree decompositions with more powerful properties and to prove sublinear bounds on the number of ways an optimum solution could "cross" bags in these decompositions. For Longest Cycle/Path, these are the first subexponential-time parameterized algorithms on map graphs. For Feedback Vertex Set and Cycle Packing, we improve upon known $2^{O({k^{0.75}\log{k}})} \cdot n^{O(1)}$-time algorithms on map graphs.
A Serious Game for Introducing Software Engineering Ethics to University Students
Venue: arXiv cs.HC 2019
Year: 2019

This paper presents a game based on storytelling, in which the players are faced with ethical dilemmas related to software engineering specific issues. The players' choices have consequences on how the story unfolds and could lead to various alternative endings. This Ethics Game was used as a tool to mediate the learning activity and it was evaluated by 144 students during a Software Engineering Course on the 2017-2018 academic year. This evaluation was based on a within-subject pre-post design methodology and provided insights on the students learning gain (academic performance), as well as on the students' perceived educational experience. In addition, it provided the results of the students' usability evaluation of the Ethics Game. The results indicated that the students did improve their knowledge about software engineering ethics by playing this game. Also, they considered this game to be a useful educational tool and of high usability. Female students had statistically significant higher knowledge gain and higher evaluation scores than male students, while no statistically significant differences were measured in groups based on the year of study.
Beam Squint and Channel Estimation for Wideband mmWave Massive MIMO-OFDM Systems
Venue: arXiv cs.IT 2019
Year: 2019

With the increasing scale of antenna arrays in wideband millimeter-wave (mmWave) communications, the physical propagation delays of electromagnetic waves traveling across the whole array will become large and comparable to the time-domain sample period, which is known as the spatial-wideband effect. In this case, different subcarriers in an orthogonal frequency division multiplexing (OFDM) system will "see" distinct angles of arrival (AoAs) for the same path. This effect is known as beam squint, resulting from the spatial-wideband effect, and makes the approaches based on the conventional multiple-input multiple-output (MIMO) model, such as channel estimation and precoding, inapplicable. After discussing the relationship between beam squint and the spatial-wideband effect, we propose a channel estimation scheme for frequency-division duplex (FDD) mmWave massive MIMO-OFDM systems with hybrid analog/digital precoding, which takes the beam squint effect into consideration. A super-resolution compressed sensing approach is developed to extract the frequency-insensitive parameters of each uplink channel path, i.e., the AoA and the time delay, and the frequency-sensitive parameter, i.e., the complex channel gain. With the help of the reciprocity of these frequency-insensitive parameters in FDD systems, the downlink channel estimation can be greatly simplified, where only limited pilots are needed to obtain downlink complex gains and reconstruct downlink channels. Furthermore, the uplink and downlink channel covariance matrices can be constructed from these frequency-insensitive channel parameters rather than through a long-term average, which enables the minimum mean-squared error (MMSE) channel estimation to further enhance performance. Numerical results demonstrate the superiority of the proposed scheme over the conventional methods in mmWave communications.
Using stigmergy as a computational memory in the design of recurrent neural networks
Venue: arXiv cs.NE 2019
Year: 2019

In this paper, a novel architecture of Recurrent Neural Network (RNN) is designed and experimented. The proposed RNN adopts a computational memory based on the concept of stigmergy. The basic principle of a Stigmergic Memory (SM) is that the activity of deposit/removal of a quantity in the SM stimulates the next activities of deposit/removal. Accordingly, subsequent SM activities tend to reinforce/weaken each other, generating a coherent coordination between the SM activities and the input temporal stimulus. We show that, in a problem of supervised classification, the SM encodes the temporal input in an emergent representational model, by coordinating the deposit, removal and classification activities. This study lays down a basic framework for the derivation of a SM-RNN. A formal ontology of SM is discussed, and the SM-RNN architecture is detailed. To appreciate the computational power of an SM-RNN, comparative NNs have been selected and trained to solve the MNIST handwritten digits recognition benchmark in its two variants: spatial (sequences of bitmap rows) and temporal (sequences of pen strokes).
Microscopic Traffic Simulation by Cooperative Multi-agent Deep Reinforcement Learning
Venue: arXiv cs.MA 2019
Year: 2019

Expert human drivers perform actions relying on traffic laws and their previous experience. While traffic laws are easily embedded into an artificial brain, modeling human complex behaviors which come from past experience is a more challenging task. One of these behaviors is the capability of communicating intentions and negotiating the right of way through driving actions, as when a driver is entering a crowded roundabout and observes other cars movements to guess the best time to merge in. In addition, each driver has its own unique driving style, which is conditioned by both its personal characteristics, such as age and quality of sight, and external factors, such as being late or in a bad mood. For these reasons, the interaction between different drivers is not trivial to simulate in a realistic manner. In this paper, this problem is addressed by developing a microscopic simulator using a Deep Reinforcement Learning Algorithm based on a combination of visual frames, representing the perception around the vehicle, and a vector of numerical parameters. In particular, the algorithm called Asynchronous Advantage Actor-Critic has been extended to a multi-agent scenario in which every agent needs to learn to interact with other similar agents. Moreover, the model includes a novel architecture such that the driving style of each vehicle is adjustable by tuning some of its input parameters, permitting to simulate drivers with different levels of aggressiveness and desired cruising speeds.